Could you please provide a trained SPM model to use the planner? And how should I use that spm.pt? There is no explanation in the README, and I tried running the planner and the following problem occurred.

[Willis814]

1.at line 278 in /tmp/binarydeb/ros-noetic-tf2-0.7.7/src/buffer_core.cpp
Warning: TF_REPEATED_DATA ignoring data with redundant timestamp for frame front_center_optical (parent drone_1) at time 1701680381.192299 according to authority unknown_publisher

2.[ WARN] [1701680381.392415034]: TF_REPEATED_DATA ignoring data with redundant timestamp for frame front_center_optical (parent drone_1) at time 1701680381.391582 according to authority unknown_publisher

3.[exploration_node-1] process has died [pid 505812, exit code -6, cmd /home/willis/AirSim-1.5.0-linux/ros/src/PredRecon/Planner/Code/devel/lib/exploration_manager/exploration_node /odom_world:=/airsim_node/drone_1/odom_local_enu /map_ros/pose:=/airsim_node/drone_1/odom_local_enu /map_ros/depth:=/airsim_node/drone_1/front_center/DepthPerspective /map_ros/cloud:=/cloud __name:=exploration_node __log:=/home/willis/.ros/log/f9a90822-9282-11ee-9a07-cd3be9faaba6/exploration_node-1.log].
log file: /home/willis/.ros/log/f9a90822-9282-11ee-9a07-cd3be9faaba6/exploration_node-1*.log
[ WARN] [1,701,680,290.862,701,204]: [Traj server]: ready.

[Chen-Albert-FENG]

Pretrained model ckpt is shown in README. Put it in https://github.com/HKUST-Aerial-Robotics/PredRecon/blob/master/Planner/Code/src/fuel_planner/exploration_manager/launch/algorithm.xml#L147

1. You can omit the tf warning.
2. If you are ready, you can trigger to start.
3. I see the errors in your terminal but I do not know why they occurred, could you provide more error outputs?

[Willis814]

Pretrained model ckpt is shown in README. Put it in https://github.com/HKUST-Aerial-Robotics/PredRecon/blob/master/Planner/Code/src/fuel_planner/exploration_manager/launch/algorithm.xml#L147

1. You can omit the tf warning.
2. If you are ready, you can trigger to start.
3. I see the errors in your terminal but I do not know why they occurred, could you provide more error outputs?

Thank you for your reply! When I input "source devel/setup.zsh && roslaunch exploration_manager recon.launch", the terminal throws the following errors:
start_pt_x:0
start_pt_y:0
start_pt_z:1.52977
-----Planning Start!-----
-----Surface Prediction Start!-----
infer_ms:2.08372ms
ts_ms:6.98538ms
vec_ms:0.01526ms
[ WARN] [1,702,190,889.576,367,820]: near_ground
960
[ WARN] [1,702,190,889.601,474,524]: Visit Cloud!
visit_num:6989
0.201732
Surface_Prediction_Time:40.2144ms!
-----Surface Prediction Finished!-----
-----Global Planning Start!-----
preprocess_time:0.218305ms
-----------cluster_size:18
CEC_time:3.2827ms
visibility_time:0.063251ms
cloud number:22876
update_time:66.7548ms
partition_size:19
normal_select_time:0.697621ms
qualified_partition_size:19
sample_time:5.60431ms

1,239 364 0 392 2,100 919 2,223 2,241 2,241 779 1,548

*** Error ***
Unknown keyword: 1,239
[exploration_node-1] process has died [pid 67281, exit code 1, cmd /home/willis/AirSim-1.5.0-linux/ros/src/PredRecon/Planner/Code/devel/lib/exploration_manager/exploration_node /odom_world:=/airsim_node/drone_1/odom_local_enu /map_ros/pose:=/airsim_node/drone_1/odom_local_enu /map_ros/depth:=/airsim_node/drone_1/front_center/DepthPerspective /map_ros/cloud:=/cloud __name:=exploration_node __log:=/home/willis/.ros/log/f5a49432-9726-11ee-881e-91dd9683a4a7/exploration_node-1.log].
log file: /home/willis/.ros/log/f5a49432-9726-11ee-881e-91dd9683a4a7/exploration_node-1*.log
Furthermore,I cannot find the log file in the specified location.😭

[rebecca0011]

Pretrained model ckpt is shown in README. Put it in https://github.com/HKUST-Aerial-Robotics/PredRecon/blob/master/Planner/Code/src/fuel_planner/exploration_manager/launch/algorithm.xml#L147

1. You can omit the tf warning.
2. If you are ready, you can trigger to start.
3. I see the errors in your terminal but I do not know why they occurred, could you provide more error outputs?

Thank you for your reply! When I input "source devel/setup.zsh && roslaunch exploration_manager recon.launch", the terminal throws the following errors: start_pt_x:0 start_pt_y:0 start_pt_z:1.52977 -----Planning Start!----- -----Surface Prediction Start!----- infer_ms:2.08372ms ts_ms:6.98538ms vec_ms:0.01526ms [ WARN] [1,702,190,889.576,367,820]: near_ground 960 [ WARN] [1,702,190,889.601,474,524]: Visit Cloud! visit_num:6989 0.201732 Surface_Prediction_Time:40.2144ms! -----Surface Prediction Finished!----- -----Global Planning Start!----- preprocess_time:0.218305ms -----------cluster_size:18 CEC_time:3.2827ms visibility_time:0.063251ms cloud number:22876 update_time:66.7548ms partition_size:19 normal_select_time:0.697621ms qualified_partition_size:19 sample_time:5.60431ms

1,239 364 0 392 2,100 919 2,223 2,241 2,241 779 1,548

*** Error *** Unknown keyword: 1,239 [exploration_node-1] process has died [pid 67281, exit code 1, cmd /home/willis/AirSim-1.5.0-linux/ros/src/PredRecon/Planner/Code/devel/lib/exploration_manager/exploration_node /odom_world:=/airsim_node/drone_1/odom_local_enu /map_ros/pose:=/airsim_node/drone_1/odom_local_enu /map_ros/depth:=/airsim_node/drone_1/front_center/DepthPerspective /map_ros/cloud:=/cloud __name:=exploration_node __log:=/home/willis/.ros/log/f5a49432-9726-11ee-881e-91dd9683a4a7/exploration_node-1.log]. log file: /home/willis/.ros/log/f5a49432-9726-11ee-881e-91dd9683a4a7/exploration_node-1*.log Furthermore,I cannot find the log file in the specified location.😭

I've encountered this error before, and the solution is to convert the corresponding int type to a string.

[Willis814]

Pretrained model ckpt is shown in README. Put it in https://github.com/HKUST-Aerial-Robotics/PredRecon/blob/master/Planner/Code/src/fuel_planner/exploration_manager/launch/algorithm.xml#L147

1. You can omit the tf warning.
2. If you are ready, you can trigger to start.
3. I see the errors in your terminal but I do not know why they occurred, could you provide more error outputs?

Thank you for your reply! When I input "source devel/setup.zsh && roslaunch exploration_manager recon.launch", the terminal throws the following errors: start_pt_x:0 start_pt_y:0 start_pt_z:1.52977 -----Planning Start!----- -----Surface Prediction Start!----- infer_ms:2.08372ms ts_ms:6.98538ms vec_ms:0.01526ms [ WARN] [1,702,190,889.576,367,820]: near_ground 960 [ WARN] [1,702,190,889.601,474,524]: Visit Cloud! visit_num:6989 0.201732 Surface_Prediction_Time:40.2144ms! -----Surface Prediction Finished!----- -----Global Planning Start!----- preprocess_time:0.218305ms -----------cluster_size:18 CEC_time:3.2827ms visibility_time:0.063251ms cloud number:22876 update_time:66.7548ms partition_size:19 normal_select_time:0.697621ms qualified_partition_size:19 sample_time:5.60431ms
1,239 364 0 392 2,100 919 2,223 2,241 2,241 779 1,548
*** Error *** Unknown keyword: 1,239 [exploration_node-1] process has died [pid 67281, exit code 1, cmd /home/willis/AirSim-1.5.0-linux/ros/src/PredRecon/Planner/Code/devel/lib/exploration_manager/exploration_node /odom_world:=/airsim_node/drone_1/odom_local_enu /map_ros/pose:=/airsim_node/drone_1/odom_local_enu /map_ros/depth:=/airsim_node/drone_1/front_center/DepthPerspective /map_ros/cloud:=/cloud __name:=exploration_node __log:=/home/willis/.ros/log/f5a49432-9726-11ee-881e-91dd9683a4a7/exploration_node-1.log]. log file: /home/willis/.ros/log/f5a49432-9726-11ee-881e-91dd9683a4a7/exploration_node-1*.log Furthermore,I cannot find the log file in the specified location.😭

I've encountered this error before, and the solution is to convert the corresponding int type to a string.

I tried to convert all "{prob_file << int_cost << " " }" to "{prob_file << to_string(int_cost) << " "}" like you ,but it still output the same errors.😂

[Willis814]

After I changed prob_file << int_cost << " " to prob_file << to_string(int_cost) << " " and rebuilt the planner, I successfully solved the "*** Error *** Unknown keyword: 1,239", but a new Problem: He keeps displaying this information in a loop and the drone is not running, it just hangs in place:
-----Planning Start!-----
-----Surface Prediction Start!-----
infer_ms:1.16194ms
ts_ms:6.92364ms
vec_ms:0.019369ms
[ WARN] [1,702,344,703.549,550,530]: near_ground
934
[ WARN] [1,702,344,703.549,713,293]: Prediction Diff
0
[ WARN] [1,702,344,703.579,339,043]: Visit Cloud!
visit_num:3628
0.201671
Surface_Prediction_Time:38.9771ms!
-----Surface Prediction Finished!-----
-----Global Planning Start!-----
preprocess_time:0.114008ms
-----------cluster_size:17
CEC_time:1.65646ms
visibility_time:0.030469ms
cloud number:23036
update_time:63.9538ms
partition_size:18
normal_select_time:0.746859ms
qualified_partition_size:18
sample_time:5.98481ms

TSP_time:4.04372ms
[ WARN] [1,702,344,703.663,303,522]: global nbv yaw!
176.944deg.
total_global:76.5301ms
[ WARN] [1,702,344,703.663,374,943]: Global to NBV!
dist to NBV:16.1951
Global_Planning_Time:83.8919ms!
-----Global Planning Finished!-----
-----Local Planning Start!-----
None qualified viewpoints...
i:8
None qualified viewpoints...
i:8

None qualified viewpoints...
---Construct Graph---
---Search optimal sequence---
Node: 27, edge: 153
---Search Finish---
---Push Finish---
-----Local Planning Finished!-----
Local_Planning_Time:1.73802ms!
[ WARN] [1,702,344,703.665,144,327]: Far Goal!
initial_local_path_length:15.1357m
initial_stoe:12.025
[ERROR] [1,702,344,703.692,957,541]: Real Length!
real length:15.5618
start to end:12.025
duration: 38.9046, seg_num: 46, dt: 0.845752
Iter num: 163, time: 0.0050439, point num: 49, comb time: 0.000487832
dt_yaw: 1.61714, start yaw: -1.50794 0.0798276 0.00172666, end: -2.62996
Traj_Opt_Time:34.5558ms!
Planning_Time:159.184ms!
-----Planning Finished!-----
traj_id:13_id!
[FSM]: from PLAN to EXEC
[ WARN] [1,702,344,703.768,466,691]: EXEC traj!
[ INFO] [1,702,344,704.470,931,388]: [FSM]: state: EXEC
[ INFO] [1,702,344,705.872,395,983]: [FSM]: state: EXEC
[ INFO] [1,702,344,707.259,422,834]: [FSM]: state: EXEC
[FSM]: from EXEC to PLAN
[ WARN] [1,702,344,707.869,263,988]: Replan: periodic call======================================== ==
[ INFO] [1,702,344,708.591,800,038]: [FSM]: state: PLAN
-----Planning Start!-----
-----Surface Prediction Start!-----
infer_ms:1.19942ms
ts_ms:7.0301ms
vec_ms:0.02171ms
[ WARN] [1,702,344,708.601,155,434]: near_ground
909
[ WARN] [1,702,344,708.601,266,793]: Prediction Diff
0
[ WARN] [1,702,344,708.627,375,212]: Visit Cloud!
visit_num:3628
0.201671
Surface_Prediction_Time:35.612ms!
-----Surface Prediction Finished!-----
-----Global Planning Start!-----
preprocess_time:0.112772ms
-----------cluster_size:17
CEC_time:1.8138ms
visibility_time:0.080997ms
cloud number:23011
update_time:63.9757ms
partition_size:18
normal_select_time:0.398471ms
qualified_partition_size:18
sample_time:5.05921ms

TSP_time:3.97052ms
[ WARN] [1,702,344,708.709,349,651]: global nbv yaw!
176.944deg.
total_global:75.4115ms
[ WARN] [1,702,344,708.709,418,002]: Global to NBV!
dist to NBV:13.6393
Global_Planning_Time:81.9606ms!
-----Global Planning Finished!-----
-----Local Planning Start!-----
None qualified viewpoints...
i:8
None qualified viewpoints...
i:8

None qualified viewpoints...
---Construct Graph---
---Search optimal sequence---
Node: 27, edge: 153
---Search Finish---
---Push Finish---
-----Local Planning Finished!-----
Local_Planning_Time:1.65741ms!
[ WARN] [1,702,344,708.711,101,762]: Far Goal!
initial_local_path_length:15.4397m
initial_stoe:13.6393
[ERROR] [1,702,344,708.741,865,714]: Real Length!
real length:16.0116
start to end:13.6393
duration: 40.0289, seg_num: 52, dt: 0.769786
Iter num: 142, time: 0.0050301, point num: 55, comb time: 0.000508168
dt_yaw: 1.66368, start yaw: -1.4214 -0.050793 -0.023876, end: 3.08826
Traj_Opt_Time:37.8933ms!
Planning_Time:157.141ms!
Is there any solution? Thank you so much!

[rebecca0011]

After I changed prob_file << int_cost << " " to prob_file << to_string(int_cost) << " " and rebuilt the planner, I successfully solved the "*** Error *** Unknown keyword: 1,239", but a new Problem: He keeps displaying this information in a loop and the drone is not running, it just hangs in place: -----Planning Start!----- -----Surface Prediction Start!----- infer_ms:1.16194ms ts_ms:6.92364ms vec_ms:0.019369ms [ WARN] [1,702,344,703.549,550,530]: near_ground 934 [ WARN] [1,702,344,703.549,713,293]: Prediction Diff 0 [ WARN] [1,702,344,703.579,339,043]: Visit Cloud! visit_num:3628 0.201671 Surface_Prediction_Time:38.9771ms! -----Surface Prediction Finished!----- -----Global Planning Start!----- preprocess_time:0.114008ms -----------cluster_size:17 CEC_time:1.65646ms visibility_time:0.030469ms cloud number:23036 update_time:63.9538ms partition_size:18 normal_select_time:0.746859ms qualified_partition_size:18 sample_time:5.98481ms

TSP_time:4.04372ms [ WARN] [1,702,344,703.663,303,522]: global nbv yaw! 176.944deg. total_global:76.5301ms [ WARN] [1,702,344,703.663,374,943]: Global to NBV! dist to NBV:16.1951 Global_Planning_Time:83.8919ms! -----Global Planning Finished!----- -----Local Planning Start!----- None qualified viewpoints... i:8 None qualified viewpoints... i:8

None qualified viewpoints... ---Construct Graph--- ---Search optimal sequence--- Node: 27, edge: 153 ---Search Finish--- ---Push Finish--- -----Local Planning Finished!----- Local_Planning_Time:1.73802ms! [ WARN] [1,702,344,703.665,144,327]: Far Goal! initial_local_path_length:15.1357m initial_stoe:12.025 [ERROR] [1,702,344,703.692,957,541]: Real Length! real length:15.5618 start to end:12.025 duration: 38.9046, seg_num: 46, dt: 0.845752 Iter num: 163, time: 0.0050439, point num: 49, comb time: 0.000487832 dt_yaw: 1.61714, start yaw: -1.50794 0.0798276 0.00172666, end: -2.62996 Traj_Opt_Time:34.5558ms! Planning_Time:159.184ms! -----Planning Finished!----- traj_id:13_id! [FSM]: from PLAN to EXEC [ WARN] [1,702,344,703.768,466,691]: EXEC traj! [ INFO] [1,702,344,704.470,931,388]: [FSM]: state: EXEC [ INFO] [1,702,344,705.872,395,983]: [FSM]: state: EXEC [ INFO] [1,702,344,707.259,422,834]: [FSM]: state: EXEC [FSM]: from EXEC to PLAN [ WARN] [1,702,344,707.869,263,988]: Replan: periodic call======================================== == [ INFO] [1,702,344,708.591,800,038]: [FSM]: state: PLAN -----Planning Start!----- -----Surface Prediction Start!----- infer_ms:1.19942ms ts_ms:7.0301ms vec_ms:0.02171ms [ WARN] [1,702,344,708.601,155,434]: near_ground 909 [ WARN] [1,702,344,708.601,266,793]: Prediction Diff 0 [ WARN] [1,702,344,708.627,375,212]: Visit Cloud! visit_num:3628 0.201671 Surface_Prediction_Time:35.612ms! -----Surface Prediction Finished!----- -----Global Planning Start!----- preprocess_time:0.112772ms -----------cluster_size:17 CEC_time:1.8138ms visibility_time:0.080997ms cloud number:23011 update_time:63.9757ms partition_size:18 normal_select_time:0.398471ms qualified_partition_size:18 sample_time:5.05921ms

TSP_time:3.97052ms [ WARN] [1,702,344,708.709,349,651]: global nbv yaw! 176.944deg. total_global:75.4115ms [ WARN] [1,702,344,708.709,418,002]: Global to NBV! dist to NBV:13.6393 Global_Planning_Time:81.9606ms! -----Global Planning Finished!----- -----Local Planning Start!----- None qualified viewpoints... i:8 None qualified viewpoints... i:8

None qualified viewpoints... ---Construct Graph--- ---Search optimal sequence--- Node: 27, edge: 153 ---Search Finish--- ---Push Finish--- -----Local Planning Finished!----- Local_Planning_Time:1.65741ms! [ WARN] [1,702,344,708.711,101,762]: Far Goal! initial_local_path_length:15.4397m initial_stoe:13.6393 [ERROR] [1,702,344,708.741,865,714]: Real Length! real length:16.0116 start to end:13.6393 duration: 40.0289, seg_num: 52, dt: 0.769786 Iter num: 142, time: 0.0050301, point num: 55, comb time: 0.000508168 dt_yaw: 1.66368, start yaw: -1.4214 -0.050793 -0.023876, end: 3.08826 Traj_Opt_Time:37.8933ms! Planning_Time:157.141ms! Is there any solution? Thank you so much!

Will there be a cloud display of rviz after you launch recon.launch?

My current problem is that Planner works fine after recon.launch but there is no point cloud in Rviz

[Willis814]

My rviz is also blank and the depth image has output, but the drone does not move.😥

[Willis814]

I find that there are some problems that may cause the rviz is blank since I have not these folders and some models.😥

[Chen-Albert-FENG]

You can find the help in this closed issue. #12

[Waiyva]

Pretrained model ckpt is shown in README. Put it in https://github.com/HKUST-Aerial-Robotics/PredRecon/blob/master/Planner/Code/src/fuel_planner/exploration_manager/launch/algorithm.xml#L147

1. You can omit the tf warning.
2. If you are ready, you can trigger to start.
3. I see the errors in your terminal but I do not know why they occurred, could you provide more error outputs?

Thank you for your reply! When I input "source devel/setup.zsh && roslaunch exploration_manager recon.launch", the terminal throws the following errors: start_pt_x:0 start_pt_y:0 start_pt_z:1.52977 -----Planning Start!----- -----Surface Prediction Start!----- infer_ms:2.08372ms ts_ms:6.98538ms vec_ms:0.01526ms [ WARN] [1,702,190,889.576,367,820]: near_ground 960 [ WARN] [1,702,190,889.601,474,524]: Visit Cloud! visit_num:6989 0.201732 Surface_Prediction_Time:40.2144ms! -----Surface Prediction Finished!----- -----Global Planning Start!----- preprocess_time:0.218305ms -----------cluster_size:18 CEC_time:3.2827ms visibility_time:0.063251ms cloud number:22876 update_time:66.7548ms partition_size:19 normal_select_time:0.697621ms qualified_partition_size:19 sample_time:5.60431ms
1,239 364 0 392 2,100 919 2,223 2,241 2,241 779 1,548
*** Error *** Unknown keyword: 1,239 [exploration_node-1] process has died [pid 67281, exit code 1, cmd /home/willis/AirSim-1.5.0-linux/ros/src/PredRecon/Planner/Code/devel/lib/exploration_manager/exploration_node /odom_world:=/airsim_node/drone_1/odom_local_enu /map_ros/pose:=/airsim_node/drone_1/odom_local_enu /map_ros/depth:=/airsim_node/drone_1/front_center/DepthPerspective /map_ros/cloud:=/cloud __name:=exploration_node __log:=/home/willis/.ros/log/f5a49432-9726-11ee-881e-91dd9683a4a7/exploration_node-1.log]. log file: /home/willis/.ros/log/f5a49432-9726-11ee-881e-91dd9683a4a7/exploration_node-1*.log Furthermore,I cannot find the log file in the specified location.😭

I've encountered this error before, and the solution is to convert the corresponding int type to a string.

I tried to convert all "{prob_file << int_cost << " " }" to "{prob_file << to_string(int_cost) << " "}" like you ,but it still output the same errors.😂

I encountered the same problem, after convert all "{prob_file << int_cost << " " }" to "{prob_file << to_string(int_cost) << " "}" ，the errors still exists，Have you solved it? Any help is welcome.